OpenRaiser/Intern-Atlas huggingface dataset:
Eco-PiNN: A Physics-informed Neural Network for Eco-toll Estimation
Venue: arXiv cs.LG 2023
Year: 2023

The eco-toll estimation problem quantifies the expected environmental cost (e.g., energy consumption, exhaust emissions) for a vehicle to travel along a path. This problem is important for societal applications such as eco-routing, which aims to find paths with the lowest exhaust emissions or energy need. The challenges of this problem are three-fold: (1) the dependence of a vehicle's eco-toll on its physical parameters; (2) the lack of access to data with eco-toll information; and (3) the influence of contextual information (i.e. the connections of adjacent segments in the path) on the eco-toll of road segments. Prior work on eco-toll estimation has mostly relied on pure data-driven approaches and has high estimation errors given the limited training data. To address these limitations, we propose a novel Eco-toll estimation Physics-informed Neural Network framework (Eco-PiNN) using three novel ideas, namely, (1) a physics-informed decoder that integrates the physical laws of the vehicle engine into the network, (2) an attention-based contextual information encoder, and (3) a physics-informed regularization to reduce overfitting. Experiments on real-world heavy-duty truck data show that the proposed method can greatly improve the accuracy of eco-toll estimation compared with state-of-the-art methods.
Uncertainty Quantification for Local Model Explanations Without Model Access
Venue: arXiv cs.LG 2023
Year: 2023

We present a model-agnostic algorithm for generating post-hoc explanations and uncertainty intervals for a machine learning model when only a static sample of inputs and outputs from the model is available, rather than direct access to the model itself. This situation may arise when model evaluations are expensive; when privacy, security and bandwidth constraints are imposed; or when there is a need for real-time, on-device explanations. Our algorithm uses a bootstrapping approach to quantify the uncertainty that inevitably arises when generating explanations from a finite sample of model queries. Through a simulation study, we show that the uncertainty intervals generated by our algorithm exhibit a favorable trade-off between interval width and coverage probability compared to the naive confidence intervals from classical regression analysis as well as current Bayesian approaches for quantifying explanation uncertainty. We further demonstrate the capabilities of our method by applying it to black-box models, including a deep neural network, trained on three real-world datasets.
MLOps: A Primer for Policymakers on a New Frontier in Machine Learning
Venue: arXiv cs.LG 2023
Year: 2023

This chapter is written with the Data Scientist or MLOps professional in mind but can be used as a resource for policy makers, reformists, AI Ethicists, sociologists, and others interested in finding methods that help reduce bias in algorithms. I will take a deployment centered approach with the assumption that the professionals reading this work have already read the amazing work on the implications of algorithms on historically marginalized groups by Gebru, Buolamwini, Benjamin and Shane to name a few. If you have not read those works, I refer you to the "Important Reading for Ethical Model Building" list at the end of this paper as it will help give you a framework on how to think about Machine Learning models more holistically taking into account their effect on marginalized people. In the Introduction to this chapter, I root the significance of their work in real world examples of what happens when models are deployed without transparent data collected for the training process and are deployed without the practitioners paying special attention to what happens to models that adapt to exploit gaps between their training environment and the real world. The rest of this chapter builds on the work of the aforementioned researchers and discusses the reality of models performing post production and details ways ML practitioners can identify bias using tools during the MLOps lifecycle to mitigate bias that may be introduced to models in the real world.
Safe Control Transitions: Machine Vision Based Observable Readiness Index and Data-Driven Takeover Time Prediction
Venue: arXiv cs.CV 2023
Year: 2023

To make safe transitions from autonomous to manual control, a vehicle must have a representation of the awareness of driver state; two metrics which quantify this state are the Observable Readiness Index and Takeover Time. In this work, we show that machine learning models which predict these two metrics are robust to multiple camera views, expanding from the limited view angles in prior research. Importantly, these models take as input feature vectors corresponding to hand location and activity as well as gaze location, and we explore the tradeoffs of different views in generating these feature vectors. Further, we introduce two metrics to evaluate the quality of control transitions following the takeover event (the maximal lateral deviation and velocity deviation) and compute correlations of these post-takeover metrics to the pre-takeover predictive metrics.
A Novel Multi-Layer Framework for BVLoS Drone Operation: A Preliminary Study
Venue: arXiv cs.RO 2023
Year: 2023

Drones have become increasingly popular in a variety of fields, including agriculture, emergency response, and package delivery. However, most drone operations are currently limited to within Visual Line of Sight (vlos) due to safety concerns. Flying drones Beyond Visual Line of Sight (bvlos) presents new challenges and opportunities, but also requires new technologies and regulatory frameworks, not yet implemented, to ensure that the drone is constantly under the control of a remote operator. In this preliminary study, we assume to remotely control the drone using the available ground cellular network infrastructure. We propose to plan bvlos drone operations using a novel multi-layer framework that includes many layers of constraints that closely resemble real-world scenarios and challenges. These layers include information such as the potential ground risk in the event of a drone failure, the available ground cellular network infrastructure, and the presence of ground obstacles. From the multi-layer framework, a graph is constructed whose edges are weighted with a dependability score that takes into account the information of the multi-layer framework. Then, the planning of bvlos drone missions is equivalent to solving the Maximum Path Dependability Problem on the constructed graph, which turns out to be solvable by applying Dijkstra's algorithm.
Pendulum Actuated Spherical Robot: Dynamic Modeling & Analysis for Wobble & Precession
Venue: arXiv cs.RO 2023
Year: 2023

A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum actuated spherical robot provides space for mounting sensors at the yoke. We study the non-linear dynamics of a pendulum-actuated spherical robot to analyze the dynamics of internal assembly (yoke) for mounting sensors. For such robots, we provide a coupled dynamic model that takes care of the relationship between forward and sideways motion. We further demonstrate the effects of wobbling and precession captured by our model when the bot is controlled to execute a turning maneuver while moving with a moderate forward velocity, a practical situation encountered by spherical robots moving in an indoor setting. A simulation setup based on the developed model provides visualization of the spherical robot motion.
Recent advances in artificial intelligence for retrosynthesis
Venue: arXiv cs.LG 2023
Year: 2023

Retrosynthesis is the cornerstone of organic chemistry, providing chemists in material and drug manufacturing access to poorly available and brand-new molecules. Conventional rule-based or expert-based computer-aided synthesis has obvious limitations, such as high labor costs and limited search space. In recent years, dramatic breakthroughs driven by artificial intelligence have revolutionized retrosynthesis. Here we aim to present a comprehensive review of recent advances in AI-based retrosynthesis. For single-step and multi-step retrosynthesis both, we first list their goal and provide a thorough taxonomy of existing methods. Afterwards, we analyze these methods in terms of their mechanism and performance, and introduce popular evaluation metrics for them, in which we also provide a detailed comparison among representative methods on several public datasets. In the next part we introduce popular databases and established platforms for retrosynthesis. Finally, this review concludes with a discussion about promising research directions in this field.
Opponent-aware Role-based Learning in Team Competitive Markov Games
Venue: arXiv cs.MA 2023
Year: 2023

Team competition in multi-agent Markov games is an increasingly important setting for multi-agent reinforcement learning, due to its general applicability in modeling many real-life situations. Multi-agent actor-critic methods are the most suitable class of techniques for learning optimal policies in the team competition setting, due to their flexibility in learning agent-specific critic functions, which can also learn from other agents. In many real-world team competitive scenarios, the roles of the agents naturally emerge, in order to aid in coordination and collaboration within members of the teams. However, existing methods for learning emergent roles rely heavily on the Q-learning setup which does not allow learning of agent-specific Q-functions. In this paper, we propose RAC, a novel technique for learning the emergent roles of agents within a team that are diverse and dynamic. In the proposed method, agents also benefit from predicting the roles of the agents in the opponent team. RAC uses the actor-critic framework with role encoder and opponent role predictors for learning an optimal policy. Experimentation using 2 games demonstrates that the policies learned by RAC achieve higher rewards than those learned using state-of-the-art baselines. Moreover, experiments suggest that the agents in a team learn diverse and opponent-aware policies.
Semantic and Effective Communication for Remote Control Tasks with Dynamic Feature Compression
Venue: arXiv cs.LG 2023
Year: 2023

The coordination of robotic swarms and the remote wireless control of industrial systems are among the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that needs to be shared over the wireless medium can overload even high-capacity connections. Consequently, solving the effective communication problem by optimizing the transmission strategy to discard irrelevant information can provide a significant advantage, but is often a very complex task. In this work, we consider a prototypal system in which an observer must communicate its sensory data to an actor controlling a task (e.g., a mobile robot in a factory). We then model it as a remote Partially Observable Markov Decision Process (POMDP), considering the effect of adopting semantic and effective communication-oriented solutions on the overall system performance. We split the communication problem by considering an ensemble Vector Quantized Variational Autoencoder (VQ-VAE) encoding, and train a Deep Reinforcement Learning (DRL) agent to dynamically adapt the quantization level, considering both the current state of the environment and the memory of past messages. We tested the proposed approach on the well-known CartPole reference control problem, obtaining a significant performance increase over traditional approaches
Dance of the DAOs: Building Data Assets as a Use Case
Venue: arXiv cs.CR 2023
Year: 2023

Decentralised Autonomous Organisations (DAOs) have recently piqued the interest of participants from diverse backgrounds, including business owners, engineers, individual and institutional investors. In part, the promised autonomy (less rigid structure and more voice) in decision making along with ease of market access, has resulted in its participants pouring in their time and economic resources. In a DAO, governance is typically enacted via posting proposals and collectively voting on it. The winning proposals are then implemented. However, governance alone may be insufficient, when its participants economic incentives are misaligned. Governance and tokenomics need to work in tandem to ensure business stability. We present a case study on an example building data asset from the construction industry and present its tokenomics. We show its working, both as a caretaker and strategic DAO, to illustrate its effects on governance and DAO stability. The case study serves as an example for participants to decide whether their DAO tokenomics are aligned with participation incentives. Finally, we propose the DAO tension quadrilateral to study DAO stability and build a tool to measure agreement among its participants.
Risk-Averse Reinforcement Learning via Dynamic Time-Consistent Risk Measures
Venue: arXiv cs.LG 2023
Year: 2023

Traditional reinforcement learning (RL) aims to maximize the expected total reward, while the risk of uncertain outcomes needs to be controlled to ensure reliable performance in a risk-averse setting. In this paper, we consider the problem of maximizing dynamic risk of a sequence of rewards in infinite-horizon Markov Decision Processes (MDPs). We adapt the Expected Conditional Risk Measures (ECRMs) to the infinite-horizon risk-averse MDP and prove its time consistency. Using a convex combination of expectation and conditional value-at-risk (CVaR) as a special one-step conditional risk measure, we reformulate the risk-averse MDP as a risk-neutral counterpart with augmented action space and manipulation on the immediate rewards. We further prove that the related Bellman operator is a contraction mapping, which guarantees the convergence of any value-based RL algorithms. Accordingly, we develop a risk-averse deep Q-learning framework, and our numerical studies based on two simple MDPs show that the risk-averse setting can reduce the variance and enhance robustness of the results.
Collective Privacy Recovery: Data-sharing Coordination via Decentralized Artificial Intelligence
Venue: arXiv cs.AI 2023
Year: 2023

Collective privacy loss becomes a colossal problem, an emergency for personal freedoms and democracy. But, are we prepared to handle personal data as scarce resource and collectively share data under the doctrine: as little as possible, as much as necessary? We hypothesize a significant privacy recovery if a population of individuals, the data collective, coordinates to share minimum data for running online services with the required quality. Here we show how to automate and scale-up complex collective arrangements for privacy recovery using decentralized artificial intelligence. For this, we compare for first time attitudinal, intrinsic, rewarded and coordinated data sharing in a rigorous living-lab experiment of high realism involving >27,000 real data disclosures. Using causal inference and cluster analysis, we differentiate criteria predicting privacy and five key data-sharing behaviors. Strikingly, data-sharing coordination proves to be a win-win for all: remarkable privacy recovery for people with evident costs reduction for service providers.
ACTIVE: A Deep Model for Sperm and Impurity Detection in Microscopic Videos
Venue: arXiv cs.CV 2023
Year: 2023

The accurate detection of sperms and impurities is a very challenging task, facing problems such as the small size of targets, indefinite target morphologies, low contrast and resolution of the video, and similarity of sperms and impurities. So far, the detection of sperms and impurities still largely relies on the traditional image processing and detection techniques which only yield limited performance and often require manual intervention in the detection process, therefore unfavorably escalating the time cost and injecting the subjective bias into the analysis. Encouraged by the successes of deep learning methods in numerous object detection tasks, here we report a deep learning model based on Double Branch Feature Extraction Network (DBFEN) and Cross-conjugate Feature Pyramid Networks (CCFPN).DBFEN is designed to extract visual features from tiny objects with a double branch structure, and CCFPN is further introduced to fuse the features extracted by DBFEN to enhance the description of position and high-level semantic information. Our work is the pioneer of introducing deep learning approaches to the detection of sperms and impurities. Experiments show that the highest AP50 of the sperm and impurity detection is 91.13% and 59.64%, which lead its competitors by a substantial margin and establish new state-of-the-art results in this problem.
Interpretable and Scalable Graphical Models for Complex Spatio-temporal Processes
Venue: arXiv cs.LG 2023
Year: 2023

This thesis focuses on data that has complex spatio-temporal structure and on probabilistic graphical models that learn the structure in an interpretable and scalable manner. We target two research areas of interest: Gaussian graphical models for tensor-variate data and summarization of complex time-varying texts using topic models. This work advances the state-of-the-art in several directions. First, it introduces a new class of tensor-variate Gaussian graphical models via the Sylvester tensor equation. Second, it develops an optimization technique based on a fast-converging proximal alternating linearized minimization method, which scales tensor-variate Gaussian graphical model estimations to modern big-data settings. Third, it connects Kronecker-structured (inverse) covariance models with spatio-temporal partial differential equations (PDEs) and introduces a new framework for ensemble Kalman filtering that is capable of tracking chaotic physical systems. Fourth, it proposes a modular and interpretable framework for unsupervised and weakly-supervised probabilistic topic modeling of time-varying data that combines generative statistical models with computational geometric methods. Throughout, practical applications of the methodology are considered using real datasets. This includes brain-connectivity analysis using EEG data, space weather forecasting using solar imaging data, longitudinal analysis of public opinions using Twitter data, and mining of mental health related issues using TalkLife data. We show in each case that the graphical modeling framework introduced here leads to improved interpretability, accuracy, and scalability.
Applicable Regions of Spherical and Plane Wave Models for Extremely Large-Scale Array Communications
Venue: arXiv cs.IT 2023
Year: 2023

Extremely large-scale array (XL-array) communications can significantly improve the spectral efficiency and spatial resolution, and has great potential in next-generation mobile communication networks. A crucial problem in XL-array communications is to determine the boundary of applicable regions of the plane wave model (PWM) and spherical wave model (SWM). In this paper, we propose new PWM/SWM demarcations for XL-arrays from the viewpoint of channel gain and rank. Four sets of results are derived for four different array setups. First, an equi-power line is derived for a point-to-uniform linear array (ULA) scenario, where an inflection point is found at $\pm \fracπ{6}$ central incident angles. Second, an equi-power surface is derived for a point-to-uniform planar array (UPA) scenario, and it is proved that $\cos^2(ϕ) \cos^2(φ)=\frac{1}{2}$ is a dividing curve, where $ϕ$ and $φ$ denote the elevation and azimuth angles, respectively. Third, an accurate and explicit expression of the equi-rank surface is obtained for a ULA-to-ULA scenario. Finally, an approximated expression of the equi-rank surface is obtained for a ULA-to-UPA scenario. With the obtained closed-form expressions, the equi-rank surface for any antenna structure and any angle can be well estimated. Furthermore, the effect of scatterers is also investigated, from which some insights are drawn.
T2M-GPT: Generating Human Motion from Textual Descriptions with Discrete Representations
Venue: arXiv cs.CV 2023
Year: 2023

In this work, we investigate a simple and must-known conditional generative framework based on Vector Quantised-Variational AutoEncoder (VQ-VAE) and Generative Pre-trained Transformer (GPT) for human motion generation from textural descriptions. We show that a simple CNN-based VQ-VAE with commonly used training recipes (EMA and Code Reset) allows us to obtain high-quality discrete representations. For GPT, we incorporate a simple corruption strategy during the training to alleviate training-testing discrepancy. Despite its simplicity, our T2M-GPT shows better performance than competitive approaches, including recent diffusion-based approaches. For example, on HumanML3D, which is currently the largest dataset, we achieve comparable performance on the consistency between text and generated motion (R-Precision), but with FID 0.116 largely outperforming MotionDiffuse of 0.630. Additionally, we conduct analyses on HumanML3D and observe that the dataset size is a limitation of our approach. Our work suggests that VQ-VAE still remains a competitive approach for human motion generation.
A Comprehensive Study on Optimizing Systems with Data Processing Units
Venue: arXiv cs.NI 2023
Year: 2023

New hardware, such as SmartNICs, has been released to offload network applications in data centers. Off-path SmartNICs, a type of multi-core SoC SmartNICs, have attracted the attention of many researchers. Unfortunatelly, they lack the fully exploration of off-path SmartNICs. In this paper, we use a BlueField SmartNIC as an example to conduct a systematical study on the advantages and disadvantages of off-path SmartNICs. We make a detailed performance characterization on an off-path SmartNIC including computing power and network communication overhead, and propose the following advices: 1) Directly utilize the specific accelerators on the SmartNIC to offload applications; 2) Offload latency-insensitive background processing to the SmartNIC to reduce the load on the host; 3) Regard the SmartNIC as a new endpoint in the network to expand the computing power and storage resources of the server host; 4) Avoid directly employing the design method for systems based on on-path SmartNICs. We apply these advices to several use cases and show the performance improvements.
Comprehensive Literature Survey on Deep Learning used in Image Memorability Prediction and Modification
Venue: arXiv cs.CV 2023
Year: 2023

As humans, we can remember certain visuals in great detail, and sometimes even after viewing them once. What is even more interesting is that humans tend to remember and forget the same things, suggesting that there might be some general internal characteristics of an image to encode and discard similar types of information. Research suggests that some pictures tend to be memorized more than others. The ability of an image to be remembered by different viewers is one of its intrinsic properties. In visualization and photography, creating memorable images is a difficult task. Hence, to solve the problem, various techniques predict visual memorability and manipulate images' memorability. We present a comprehensive literature survey to assess the deep learning techniques used to predict and modify memorability. In particular, we analyze the use of Convolutional Neural Networks, Recurrent Neural Networks, and Generative Adversarial Networks for image memorability prediction and modification.